JPH05281061A - Method and apparatus for recognizing dynamic mass and average frictional force of lift door - Google Patents

Abstract

PURPOSE: To recognize the dynamic mass and the average frictional force of a lift door by an arrangement wherein a mass system calculates characteristic parameters from measured kinetic parameters following the moving course of a test section across which a door traverses without being driven. CONSTITUTION: An automatic sliding door system 1 comprises a door 2, a door driver 3, and an emergency closing unit 4 having a closing weight G. The door driver 3 comprises a microprocessor 3.1, an incremental transmitter 3.2, and a door motor 3.3. The door is subjected to open and close motions and guided across first and second sections TS1, TS2 without being driven. First and second energy balances EB1, EB2 are determined from measured kinetic parameters, i.e., initial and final speeds v1, v2 of the door, a motion path s1, initial and final speeds v3, v4 of the door, and a motion path s2. The energy balance EB1 is coupled with the energy balance EB2 by means of the microprocessor 3.1 and the dynamic mass and average frictional force of the sliding door system are calculated according to an expression thus recognizing the dynamic mass and the average frictional force of lift door.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a method and apparatus for determining the dynamic mass and mean frictional force of lift doors in particular. In the method and the device, the mass system follows at least one unactuated course of movement, which represents the test section, and at least another parameter characteristic of the mass system is calculated from the measured kinematic parameters.

Using such a system, a corresponding kinematic energy, which becomes effective when wedged at the closed end, can be determined for the lift door for each closing speed. On the contrary, it is possible to check the corresponding closing speed for a given closing energy, which is the maximum permissible for safety technology, and to set the door drive for it. In general, this method is important for optimal or preventive maintenance of mass systems, for example,
Suitable for numerical confirmation of system parameters.

Sliding automatic doors, such as those used in high performance lifts, must meet various regulations. Thus, for example, the maximum transfer energy of all mechanically connected parts may not exceed a set maximum value (eg 10 Joules) at an average closing speed,
Required for reasons of wedge protection. This sets an upper limit for the average closing speed. On the other hand, short door closing times are a prerequisite for good transportation efficiency in high performance lifts.
Therefore, the maximum possible closing speed must be fully utilized and the door drive for it set in order to ensure wedge protection. However, this requires knowing the maximum permissible closing speed.

In the case of a sliding automatic door, the maximum closing speed vmax is determined by the maximum permissible values for safety technology Ekmax and the dynamic door mass md. Here, vmax is 2 · Ekmax / md. Since Ekmax is set by safety rules, the calculation of Vmax has the purpose of determining the dynamic door mass md. All movable interconnect masses of the door system are included in it and are associated with the translational movement of the door door to be fixed with respect to the wedge. This includes all door doors, coupling and mounting elements, movable door monitoring devices, closure weights, cable connections to door doors, door door power transmission devices, etc. In that case, a door field moving at half speed will have only a quarter of its rest mass in the dynamic mass, for example in the case of telescopic doors. Therefore, a simple and accurate method is needed to determine the dynamic mass for lift doors.

[0005]

BACKGROUND OF THE INVENTION Various methods have been used for this purpose to date. The first method consists in ascertaining the static mass of a separate door door by means of a balance and converting it into a dynamic mass corresponding to the drive transmission. In addition, a constant value for the dynamic mass of the drive system was added to it. The result is permanently stored in the electronic door drive system. In the second method, a specific mass system built into each door system is used to automatically check the dynamic door mass. Another method examines the system behavior of the door system for various known dynamic door masses. The results are stored in the door drive software, from which the dynamic door mass of any desired door system is ascertained.

All such methods have the disadvantage that they require complex and expensive equipment, and are inaccurate and sensitive to jamming.

On the other hand, one method and device for measuring load torque in the case of electric drives, in particular transport drives, is known from Swiss Patent Specification 399,775. In this method, a motor torque of 0 is set on the drive machine for at least a short time at the moment of operation prepared for measurement, appears in the drive machine in this operating state, and in this case the load torque of the drive machine Acceleration or deceleration, which is a direct measure, is measured. To measure acceleration or deceleration, the speed of the driving machine is measured at the beginning and end of a predetermined time interval, then both measured values are stored in a storage device, and the difference between both measured values is configured on a display device. .. Thus, the method essentially consists of driving the electric drive across the test section without driving it in the range of the learning movement and measuring the acceleration or deceleration that then occurs. The device for carrying out the method according to the invention comprises a combination of a device for measuring acceleration or deceleration and a device for switching off the motor torque. In that case, the device for switching off the motor torque is configured as a relay for interrupting the power supply to the drive machine, and the device for measuring acceleration or deceleration is connected to the drive machine and its rotation. It includes a pulse generator that produces pulses at a repetition rate that is proportional to the rate.

The basic disadvantage of this method is that the load torque, except for the proportionality constant,
There is absolutely no confirmation. That is, the aforementioned course of movement in the test section makes the measured acceleration a known, the force K and the dynamic mass md
Only lead to the equation K = md · a of the type that uses as unknown. A second independent equation from the second test run would be needed for absolute confirmation of both unknown K and md. However, the reference shows that the corresponding equations are equally independent and unknown K and md
It is not possible to have two such test tasks each independent so that both values of are obtained. It is also a disadvantage that the measured acceleration or deceleration a represents only a "one measurement" for the required load torque relating to the machine in operation and can therefore only be confirmed inaccurately. Proved to be. So, for example, its application to the starting control of braking or braking torque is
Limited by its accuracy. This is especially true for lift drives in light-weight mode configurations, since the dynamic mass md, which acts as a proportionality constant, is in this case determined to a large extent by the load to be transmitted and therefore unknown and yet still rapidly changing. .. Moreover, a fundamental type of flaw must be seen in that the frictional forces present in the electric drive are part of the load torque to be verified and cannot be verified separately. This makes it impossible to check the numerical values of the actual friction states and thus monitor them for comparison for preliminary maintenance and quality assurance. The present invention creates a correction method here.

[0009]

Accordingly, it is an object of the present invention to provide a method and apparatus for ascertaining characteristic kinematic parameters with high accuracy in a system of movably interconnected mass parts. Is the challenge. The method and the apparatus, among other things, numerically ascertain the dynamic mass and average frictional force of all movably interconnected parts for a sliding door system of a lift and determine this during normal lift operation. It would be possible to do without the use of special additional metrology equipment. This problem is solved by the present invention by means as characterized in the description of the independent claims. Advantageous inventive relationships are indicated in the dependent claims.

Furthermore, the method and the device constituted by these means have further various advantages especially for the mass system which is part of the host device.

[0011]

The first advantage is that the lift door is installed in a natural environment and can be operated completely while experimentally checking the door parameters, and in that case It follows from the situation that the learning movements used are only slightly different from the normal opening and closing movements. For that reason, for the separate door parameters, those values that can actually occur during normal operation of the lift door are identified. Yet another advantage is that the method is implemented by utilizing existing door drives. In this way, no special device which may be a source of error is required, and the door drive is used for a new purpose which was not originally prepared for it. Furthermore, there is only one algorithm which is compatible with the method and which can be easily implemented in existing microprocessor systems of door drives. It has also been proved that the method according to the invention can easily be integrated in existing lift controllers, for example via a data collection bus. Therefore, it is urgently appropriate to expand the conventional door drive system for safety technology, thereby ensuring the door drive system in its operation behavior in sequence and facilitating maintenance. Another advantage is that the method is suitable for detecting the magnitude of physical properties in a given time and for statistically evaluating them and recording them, which is done as an interruption of the upper lift operation. Is that Such statistics are suitable for pre-maintenance and quality assurance and direct evaluation for safety inspections carried out by authorized parties.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is described below with reference to the drawings for its application to ascertain the dynamic mass and mean frictional force of a sliding lift door, but the invention shown here is general. In particular, it is applicable for identifying numerically characterizing parameters in movably interconnected mass parts. The drawings merely show this application of the invention.

In the application example of FIG. 1, the mass system whose physical properties are to be ascertained is realized by means of a sliding cage automatic door system 1 for lift cages, which is constructed in a substantially known manner. Is represented. A door drive is provided for each cage, which is permanently connected to the associated sliding cage door by being coupled to one sliding shaft door, for the purpose of simplifying the description. Only one of both sliding door doors is shown below. The present invention is simply
It relates to a method and a corresponding device for checking the dynamic mass md and the average frictional force Fr * of such a sliding door system 1. The sliding automatic door system 1 shown in the front view includes a door door 2 and a door driving device 3.
And an emergency closing device 4 with a closing weight G. The door 2 is guided via a suspension 2.1 and a runner 2.2 on its upper side for horizontal movement in the running rail 3, for example a corresponding guide of a fixed floor sill, which is also not shown. In, the vehicle travels with a low frictional force below the door door 2. Single door door 2 for simplicity
Although only described below, it is self-evident that the same arrangement can be used for the multi-element door door 2. The door driving device 3 includes a microprocessor 3.1, an increment transmitter 3.2, and a door motor 3.3, and a driving force Fa of the motor 3.3 is a cable for opening and closing the door door 2. It is transmitted to the door 2 via the pull 3.4 and the mounting element 3.5. Incremental transmitter 3.2
It is coupled to the door motor or any other desired point in the door drive 3. The emergency closure device 4 is of crucial importance for the method according to the invention. It comprises a closed weight G having a mass mG, said weight G
Is connected in a freely suspended manner to a connecting point 4.3 in the shaft via a closing weight suspension consisting of a closing weight part 4.1 and a guide roller 4.2. Due to this arrangement, a closing weight force Fs is generated, which force Fs is exerted on the door door 2 via the guide rollers 4.2 by a total mG. Works only g. This closing weight force Fs will act permanently and in the closing direction for all door settings and will automatically close the door door 2 in case of emergency.
Such an emergency closure device 4 is required by relevant safety regulations to automatically close and lock the lift shaft in case of a shaft door door failure. Therefore,
The high performance sliding door is equipped with a closing weight G. The closing weight force Fs must be greater than the maximum static friction force Fhmax that also occurs in all possible settings of the door door 2 so that the function of the emergency closing device 4 is ensured in all friction states. I won't. In normal operation, the door door 2 is horizontally moved and opened / closed by the door drive device 3,
On the other hand, the closing weight force Fs is the driving force F when opened.
It acts in opposition to a and is in the same direction when closed.

In FIG. 2, the open learning movement OL and the closing learning movement SL are the dynamic mass md and the average frictional force Fr of the sliding door system 1 for the lift cage.
Each is described in more detail by its respective velocity diagram as it is used to experimentally confirm *. Figure 2
, The door door 2 is in the range of the open learning movement accelerated from the closed state to the constant opening speed vo, and then the door drive device 3 is switched off and the motor current is set to 0. And moves into the first test section TS1 within the moving point sa at the door door speed v1. Then, while the door drive device 3 is switched off but is being braked by the closing weight G, the door door 2
Moves in the test section TS1 with deceleration, and still maintains the positive door door speed v2 after crossing the moving path s1. Thereafter, the door drive 3 is reactivated in order to completely open the door 2. The purpose of the open learning movement OL is to display the parameter characteristic of the open movement which is open but is being braked by the closing weight G. For this purpose, the door door speeds v1 and v2 and the moving path s1
Is measured from the microprocessor 3.1, which is present in any of the door drives 3, by the incremental transmitter 3.2, which is present in any case, and is stored for later use. The corresponding closed learning movement SL is also shown in the lower part of FIG. 2 as a velocity movement diagram. In that case,
The door 2 is accelerated from the closed state to a constant closing speed vs, then the door drive 3 is switched off,
The vehicle moves into the second test section TS2 within the moving point sa at the door door speed v3 resulting from the motor current being set to 0. Next door door 2 is this test section TS2
Although the door drive device 3 is switched off, the door drive device 3 is driven by the closing weight G to move at a constant or increasing speed, and still keeps the negative door door speed v4 even after crossing the moving path s2. ing. The door drive 3 is then reactivated in order to close the door 2 completely. The purpose of the closed learning movement SL is likewise an indication of the parameter characteristic of the closed movement which is open but is driven by the closing weight G. For this purpose, the door door speeds v3 and v4 are in this case measured from the microprocessor 3.1, which is present in the door drive 3, in any case by means of an incremental transmitter 3.2, which is present in any case and stored for later use. To be done. Since the sliding door system 1 is related to this application example, the door door speeds v1, v2, v3 and v4 are moving speeds in one direction.

The preferred implementation variant chosen to illustrate the method according to the invention will now be described in more detail in accordance with FIG. In that case, the corresponding algorithm executed in the microprocessor 3.1 of the door drive 3 is shown schematically as a flow chart. This preferred implementation variant relates to the case where the sliding door system for the lift cage is a mass system in which the size of the physical properties is ascertained, the potential energy Ep of the closing weight G and the kinematics of all installed parts. The energy Ek and the friction energy Er are characterized in that they are taken into account when considering the energy, and the dynamic mass md and the average friction force Fr * are the magnitudes of the physical properties to be confirmed. In the flow chart shown, the steps of the method of forming the basis of the invention start from and presuppose that the opening direction and the width of the door have been previously identified and therefore known. The method according to the invention starts in FIG. 3 with a first stage 1, by which a learning movement is involved in both cases of the door movement being observed and arranged with the door door 2 completely closed. Will be ensured. As shown in step 2 below,
An open learning movement OL is involved during the first learning movement. For this purpose, the door door 2 is accelerated from the closed state to a positive opening speed vo and then the door drive 3 is switched off. In that case vo is the friction and closing weight force F
Assuming that s is taken into account, the next test section TS1 is selected to be traversed to its end at a decelerated but still positive speed. After the motor current is set to 0, the door door speed v1 and the corresponding door door position sa are
Measured and stored at the beginning of the test section TS1 and then at the end of the test section TS1 at the door position se
The traversed road s1 = se-sa and the door speed v2, which have been traveled to, are measured and stored at position se. After that, the door drive device 3 is activated again to completely open the door. The microprocessor 3.1 and the increment transmitter 3.2 of the door drive 3 serve to measure and store the door door speeds v1 and v2 and the length s1 of the test section TS1. In this way, no additional measuring device is needed, which can be a source of error.

After the open learning move OL is performed, the closed learning move SL is performed in step 3. In that case, the door door 2 is accelerated from the open state to a negative closing speed vs and then the door drive 3 is switched off. Closing speed vs
Is chosen such that the test section TS2 is not driven and traversed to its end at a speed that is also negative, usually variable, assuming friction and closing weight forces. After the motor current reaches 0, the door speed v3
And the corresponding door position sa is the test section TS
Measured and stored at the beginning of 2, then moved to the door position SE at the end of the test section TS2, the traversed range s2 = se-sa and the corresponding door speed v4 is
Measured and stored at position se. After that, the door driving device 3 is activated again to completely close the door. again,
Door door velocities v3 and v4 are measured and stored at the beginning and the end of test section TS2, respectively, and the test section length s2 is measured and stored by microprocessor 3.1 and incremental transmitter 3.2.

The next steps 4 and 5 are the first test section TS1 and the second test section T, respectively.
It serves to create the energy balances EB1 and EB2 for S2. The method then starts from the law of nature that the total energy is constant with respect to energy in a closed system. In the case of the invention, the door drive 3 is switched off during the traversal of these test sections and during this time energy cannot be supplied to the sliding door system 1 and thus cannot be recovered from it. This is the test section T
Applies to movement through both S1 and TS2.
The change in the kinematic energy confirmed by the change in the speed of the door 2 changes the kinematic energy Ek into the friction energy E.
It is caused by converting to r and potential energy Ep. Now, according to the method of the invention, it is important not only to use any closing weight G, but to use an exactly defined one, and thus to know its mass mG. In that case, it is assumed that the mass mS of the cable piece S between the closing weight G and the guide roller 4.2 is only slightly related to the mass mG of the closing weight G. If this is not the case, this cable mass mS must be included in the calculation as it is added to the mass of the closing weight G. However, since the cable mass mS between the guide roller 4.2 and the closing weight can change during the traversal of the test sections TS1 and TS2, the average cable length (11 + 12).
/ 2 is included in the calculation. Further, the gravitational acceleration g can be known as a natural constant. Therefore, the energy balance EB1 for the test section TS1 is created in the next step 4 on the basis of the dimensions measured and stored in step 2, namely the door door velocities v1 and v2 and the travel path s1. In that case, it is important that the potential energy Ep of the closing weight G increases over the test section TS1 and that this increase in energy enters the energy balance EB1 with a positive sign. Therefore, EB1 has the following results.

[0018]

[Equation 6]

In a similar manner, the energy balance EB2 for the test section TS2 results in step 5,
At that stage, the potential energy Ep of the closing weight G now decreases over the test section TS1, and this energy decrease enters the negative sign energy balance EB2.

[0020]

[Equation 7]

Finally, the dynamic mass md and the average friction force F
The formula for confirming r * is obtained in the final stage 6.
That is, both energy balances EB1 and EB2 are
Due to the different effects of the closing weights during opening and closing they are completely independent of each other and thus represent an equation that can solve for md and Fr *.

[0022]

[Equation 8]

The maximum permissible closing speed vmax according to safety technology for the door door 2 of the sliding door system 1
Results from the dynamic mass md as follows.

[0024]

[Equation 9]

[Where W is the sliding lift door 1,
Maximum allowable closure energy according to safety technology. It is obvious to a person skilled in the art that the present invention is not limited to the above embodiments. In particular, the invention is generally suitable for vertical sliding doors and revolving doors. In such cases, the dynamic mass and average frictional forces of all installed parts are related to the vertical translational or rotational movement of the door door. further,
Other types of energy can be included in the energy balance,
Also, the magnitude of other physical properties can be identified therefrom.

[Brief description of drawings]

FIG. 1 Arrangement and basic of a sliding door system 1 for a lift cage applying the method according to the invention for the numerical verification of the dynamic mass md and the mean frictional force Fr * of all interconnected system parts. It is a figure which shows a structure roughly.

2 diagrammatically shows a velocity movement diagram for defining an open learning movement OL and a closing learning movement SL and the corresponding non-driven movement course over a first test section and a second test section, respectively. FIG. Is.

3 is a flow chart of a method according to the invention for application in the control of the sliding lift door of FIG. 1 by means of a device according to the invention.

[Explanation of symbols]

 2 Door door 2.1 Suspension device 3 Door drive device 4 Emergency closing device 3.1 Microprocessor 3.2 Incremental transmitter 3.3 Door motor 3.5 Mounted element G Closing weight TS1 First test section TS2 Second test section

Claims (9)

[Claims] 1. The mass system follows at least one course of travel which represents a test section (TS) which is traversed undriven, in which case at least another parameter characterizing the mass system is measured kinematics. A method for ascertaining the dynamic mass and mean frictional force of a lift door calculated from dynamic parameters, comprising: a) a sliding door system following an open learning movement (OL), where: Acceleration from the closed state to a constant positive velocity (vo) by means of a device and a closing weight, then switching off the door drive, and then the door door being undriven, the first test section (TS1), The door door speed (v1) is at the beginning of the section (TS1), and the door door speed (v2 is at the end of the section (TS1). Crossing at, and the first
The travel path (s1) traversed between the beginning and the end of the test section (TS1) of the above is measured and stored by the microprocessor and the incremental transmitter of the door drive, and then the switch of the door drive is switched. Put it in again,
Completely opening the door door, and b) the sliding door system follows a closed learning movement (SL), in which case: the door door is opened from the open state by a constant negative by the door drive and the closing weight. Accelerate to speed (vs) and then switch off the door drive, then the door door is left undriven to the second test section (TS2) and at the beginning of the section (TS2) the door door. At the speed (v3), at the end of the section at the door door speed (v4), and in that case the second
The travel path (s2) traversed between the beginning and the end of the test section (TS2) of said door drive device is measured and stored by said microprocessor and said incremental transmitter of said door drive device; Switch it back on,
Completely closing the door door; and c) creating the energy balance (EB1) of all installed parts forming the sliding door system for a travel course over the first test section (TS1). , And in that case, the first test section (T
Using with positive sign the potential energy (Ep) obtained by the closing weight while traversing S1), and d) the energy balance (EB2) of all installed parts forming the sliding door system. For the traveling course over the second test section (TS2), and in that case the second test section (T
Using a negative sign the potential energy (Ep) lost by the closing weight while traversing S2), and e) using the energy balance (EB1) of the first test section (TS1) with the door. It is coupled to the energy balance (EB2) of the second test section (TS2) by the microprocessor of the drive, from which the dynamic mass (md) and the average friction force of the sliding door system are according to a special formula. (F
r *) is calculated, and a method for ascertaining the dynamic mass and the average frictional force of the lift door are characterized in that: 2. All installations, in addition to the potential energy (Ep) of the closing weight, for both traversing courses respectively over the first test section (TS1) and the second test section (TS2). Taking into account the kinematic energy (Ek) and the frictional force (Er) of the part, the corresponding energy balance (E
B1, EB2) can be expressed by the following relationship: Where: md = dynamic mass of the sliding door system v1 = positive door door speed at the beginning of the first test section (TS1) v2 = positive positive at the end of the first test section (TS1) Door door speed s1 = length of the first test section (TS1) Fr * = average friction force of the sliding door system mG = mass of the closing weight g = gravitational acceleration v3 = the second test section (TS2) ) Beginning negative door door speed v4 = negative ending door door speed at the end of the second test section (TS2) s2 = length of the second testing section (TS2)] The method of claim 1. 3. The dynamic mass (md) and the average friction force (Fr *) are defined by the following special formula: Method according to claim 2, characterized in that 4. In order to increase the accuracy of the method, the cable mass (mS) of the cable piece between the closing weight and the guide roller is added to the closing weight mass (mG), and the average cable length L * = (L1 + L2) / 2 where: L1 = cable piece length between the closing weight at the beginning of TS1 / TS2 and the guide roller L2 = between the closing weight at the end of TS1 / TS2 and the guide roller Cable piece length] is used for the calculation of the cable mass (mS). 5. In order to increase the accuracy of the method, the closure weight (G) is given by the following equation: The method according to claim 1, wherein the maximum static friction force (Fhmax) is given as follows. 6. The first test section (TS1) and the second test section (TS2) are placed at the same position on a traveling rail in order to eliminate an error effect due to a position dependency of the frictional force (Fr). The method according to claim 1, characterized in that 7. The speeds (v1, v2) and (v) for the first test section (TS1) and the second test section (TS2), respectively, in order to eliminate an error effect due to speed dependence of the frictional force (Fr). v3,
v4) is given by the following equation The method according to claim 1, characterized in that 8. The maximum allowable closing speed (vsmax) of a sliding door of a lift is calculated from the dynamic mass of the door as follows: Where W is the maximum allowable closing energy of the sliding door system according to safety technology. ] The method according to claim 1, characterized in that 9. A drive motor, the drive rotation of which is converted by a gear means and a coupling means into a translational movement of at least one drive part for simultaneously actuating the cage door and the respective shaft door, and on the other hand the movable motor. A control and adjustment device for door movement comprising a microprocessor electrically connected to an incremental transmitter for generating pulses at a pulse frequency proportional to the speed of the drive, and on the other hand a power system for supplying current to the drive motor; The microprocessor of the door drive includes a scanner and is bidirectionally connected to the incremental transmitter via a data bus to store the door door speed associated with each scanned movement increment. Including a travel and speed storage device (SP1) for
Furthermore, the kinematic parameters of the first test section (TS1) and the second test section (TS
Device for carrying out the method according to claim 1, characterized in that it comprises a parameter store (SP2) for storing the kinematic parameters of 2).